EP3326765A4 - Manipulator - Google Patents

Manipulator Download PDF

Info

Publication number
EP3326765A4
EP3326765A4 EP16827507.1A EP16827507A EP3326765A4 EP 3326765 A4 EP3326765 A4 EP 3326765A4 EP 16827507 A EP16827507 A EP 16827507A EP 3326765 A4 EP3326765 A4 EP 3326765A4
Authority
EP
European Patent Office
Prior art keywords
manipulator
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP16827507.1A
Other languages
English (en)
French (fr)
Other versions
EP3326765A1 (de
Inventor
Toshihiro Yoshii
Mitsuaki Hasegawa
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Olympus Corp
Original Assignee
Olympus Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Olympus Corp filed Critical Olympus Corp
Publication of EP3326765A1 publication Critical patent/EP3326765A1/de
Publication of EP3326765A4 publication Critical patent/EP3326765A4/de
Withdrawn legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/06—Arms flexible
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • B25J9/1045—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons comprising tensioning means
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/183—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions conveying only reciprocating motion, e.g. wedges
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B17/2909—Handles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
    • A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2901—Details of shaft
    • A61B2017/2902—Details of shaft characterized by features of the actuating rod
    • A61B2017/2903—Details of shaft characterized by features of the actuating rod transferring rotary motion
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B17/2909—Handles
    • A61B2017/2912—Handles transmission of forces to actuating rod or piston
    • A61B2017/2913—Handles transmission of forces to actuating rod or piston cams or guiding means
    • A61B2017/2915—Handles transmission of forces to actuating rod or piston cams or guiding means arcuate shaped guiding means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B17/2909—Handles
    • A61B2017/2912—Handles transmission of forces to actuating rod or piston
    • A61B2017/2913—Handles transmission of forces to actuating rod or piston cams or guiding means
    • A61B2017/2917—Handles transmission of forces to actuating rod or piston cams or guiding means with flexible part
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B17/2909—Handles
    • A61B2017/2912—Handles transmission of forces to actuating rod or piston
    • A61B2017/2923—Toothed members, e.g. rack and pinion
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • A61B2034/715—Cable tensioning mechanisms for removing slack
EP16827507.1A 2015-07-17 2016-05-31 Manipulator Withdrawn EP3326765A4 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2015143123 2015-07-17
PCT/JP2016/065963 WO2017013943A1 (ja) 2015-07-17 2016-05-31 マニピュレータ

Publications (2)

Publication Number Publication Date
EP3326765A1 EP3326765A1 (de) 2018-05-30
EP3326765A4 true EP3326765A4 (de) 2019-02-20

Family

ID=57834155

Family Applications (1)

Application Number Title Priority Date Filing Date
EP16827507.1A Withdrawn EP3326765A4 (de) 2015-07-17 2016-05-31 Manipulator

Country Status (5)

Country Link
US (1) US11147643B2 (de)
EP (1) EP3326765A4 (de)
JP (1) JP6427673B2 (de)
CN (1) CN107848120B (de)
WO (1) WO2017013943A1 (de)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2563234B (en) * 2017-06-06 2021-12-08 Cmr Surgical Ltd Securing an interface element rail of a robotic surgical instrument interface
US11000948B2 (en) * 2018-05-29 2021-05-11 General Electric Company Robotic arm assembly
CN108904897B (zh) * 2018-07-05 2021-02-12 苏州中科先进技术研究院有限公司 一种调向机构、吸引器以及调向机构的应用
CN109046837A (zh) * 2018-09-18 2018-12-21 博众精工科技股份有限公司 固体电解质表面喷涂设备
JP6809720B2 (ja) * 2019-03-13 2021-01-06 リバーフィールド株式会社 術具

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20120046522A1 (en) * 2010-03-17 2012-02-23 Olympus Medical Systems Corp. Endoscopic system
WO2015012081A1 (ja) * 2013-07-26 2015-01-29 オリンパス株式会社 マニピュレータ及びマニピュレータシステム
EP3168013A1 (de) * 2014-07-10 2017-05-17 Olympus Corporation Medizinisches instrument und anpassungsverfahren für medizinisches instrument

Family Cites Families (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
NL20638C (de) * 1926-01-07
JPS5465190U (de) * 1977-10-17 1979-05-09
JPS6074990U (ja) * 1983-10-31 1985-05-25 ぺんてる株式会社 ワイヤ−駆動ロボツトのワイヤ−張設装置
JPS60172047U (ja) * 1984-04-21 1985-11-14 株式会社椿本チエイン テンシヨナ
US6033378A (en) * 1990-02-02 2000-03-07 Ep Technologies, Inc. Catheter steering mechanism
JP3419869B2 (ja) * 1993-12-28 2003-06-23 オリンパス光学工業株式会社 医療器具
JP2002200091A (ja) * 2000-12-27 2002-07-16 Mizuho Co Ltd 手術器械操作における駆動ワイヤーの緩み補正機構
DE10314727A1 (de) * 2003-03-31 2004-10-28 Robert Bosch Gmbh Verfahren zum Erzeugen einer Vorspannung in einem von einer Brennkraftmaschine antreibbaren Umschlingungsgetriebe
US9339342B2 (en) 2008-09-30 2016-05-17 Intuitive Surgical Operations, Inc. Instrument interface
US9259274B2 (en) 2008-09-30 2016-02-16 Intuitive Surgical Operations, Inc. Passive preload and capstan drive for surgical instruments
JP2010194102A (ja) * 2009-02-25 2010-09-09 Olympus Corp 分離型内視鏡、および、分離型内視鏡の操作部
JP2010221329A (ja) 2009-03-23 2010-10-07 Olympus Corp 駆動機構
JP2010220786A (ja) * 2009-03-24 2010-10-07 Waseda Univ 手術用マニピュレータ及び手術用マニピュレータシステム
JP5856817B2 (ja) 2011-11-16 2016-02-10 オリンパス株式会社 医療用処置具およびこれを備えるマニピュレータ
CN203372737U (zh) * 2013-07-12 2014-01-01 嘉兴乾昆工业设计有限公司 混凝土输送装置
JP6081309B2 (ja) * 2013-07-24 2017-02-15 オリンパス株式会社 医療用マニピュレータ
JP5788029B2 (ja) * 2014-01-10 2015-09-30 カール シュトルツ ゲゼルシャフト ミット ベシュレンクテル ハフツング ウント コンパニー コマンディートゲゼルシャフト 医療用マニピュレータ
CN204126669U (zh) * 2014-08-12 2015-01-28 陆彬燕 一种煤矿运输装置
JP6715949B2 (ja) * 2016-12-05 2020-07-01 オリンパス株式会社 軟性マニピュレータ

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20120046522A1 (en) * 2010-03-17 2012-02-23 Olympus Medical Systems Corp. Endoscopic system
WO2015012081A1 (ja) * 2013-07-26 2015-01-29 オリンパス株式会社 マニピュレータ及びマニピュレータシステム
EP3025635A1 (de) * 2013-07-26 2016-06-01 Olympus Corporation Manipulator und manipulatorsystem
EP3168013A1 (de) * 2014-07-10 2017-05-17 Olympus Corporation Medizinisches instrument und anpassungsverfahren für medizinisches instrument

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of WO2017013943A1 *

Also Published As

Publication number Publication date
JPWO2017013943A1 (ja) 2018-04-26
EP3326765A1 (de) 2018-05-30
CN107848120B (zh) 2021-01-08
US20180125595A1 (en) 2018-05-10
WO2017013943A1 (ja) 2017-01-26
US11147643B2 (en) 2021-10-19
JP6427673B2 (ja) 2018-11-21
CN107848120A (zh) 2018-03-27

Similar Documents

Publication Publication Date Title
EP3254640A4 (de) Manipulator
EP3342550A4 (de) Manipulatorsystem
EP3466505A4 (de) Roboter
EP3392729A4 (de) Robotersystem mit automatischer bewegung
EP3305229A4 (de) Medizinischer manipulator
EP3587054A4 (de) Manipulator
EP3238893A4 (de) Robotersystem
EP3523664A4 (de) Manipulator
EP3284452A4 (de) Exoskelett
EP3453436A4 (de) Roboter
EP3529009A4 (de) Menschenverfolgender roboter
EP3305235A4 (de) Medizinischer manipulator
EP3238883A4 (de) Roboter
EP3459607A4 (de) Roboter
EP3329876A4 (de) Manipulator
EP3459608A4 (de) Roboter
EP3450114A4 (de) Roboter
EP3315108A4 (de) Robotersystem
EP3348359A4 (de) Roboter
EP3257465A4 (de) Manipulator
EP2999573A4 (de) Roboter
EP3450118A4 (de) Roboter
EP3235461A4 (de) Manipulatorsystem
EP3492155A4 (de) Roboter
EP3156194A4 (de) Manipulator

Legal Events

Date Code Title Description
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE

PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20180209

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

DAV Request for validation of the european patent (deleted)
DAX Request for extension of the european patent (deleted)
A4 Supplementary search report drawn up and despatched

Effective date: 20190118

RIC1 Information provided on ipc code assigned before grant

Ipc: A61B 34/00 20160101ALI20190114BHEP

Ipc: B25J 17/02 20060101AFI20190114BHEP

Ipc: A61B 17/28 20060101ALI20190114BHEP

Ipc: B25J 18/06 20060101ALI20190114BHEP

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE APPLICATION HAS BEEN WITHDRAWN

18W Application withdrawn

Effective date: 20190704